Time optimal trajectory planning for robotic manipulators with obstacle avoidance: A CAD approach

A method is presented which finds the minimum time motions for a manipulator between given end states. The method considers the full nonlinear manipulator dynamics, actuator saturation characteristics, and accounts for both the presence of obstacles in the work space and restrictions on the motions of the manipulator´s joints. The method is computationally practical and has been implemented in a Computer Aided Design (CAD) software package, OPTARM II, which facilitates its use. Examples of its application to a six degree-of-freedom articulated manipulator, performing tasks in a typical environment, are presented. The results show that substantial improvements in system performance can be achieved with the technique.